Mechanism Design and Kinematics Positive Solution of the Exoskeleton Upper Limb Rehabilitation Robot with 6-DOF

被引：2
|
作者：
Zhang Hui [1 ]
Wang Yong-xing [1 ]
Wang Sheng-ze [1 ]
机构：
[1] Donghua Univ, Coll Mech Engn, Shanghai, Peoples R China
来源：
ADVANCES IN MATERIAL SCIENCE, MECHANICAL ENGINEERING AND MANUFACTURING | 2013年 / 744卷
关键词：
Rehabilitation robot; shoulder joint; serial mechanism; exoskeleton; spherical joint;
D O I：
10.4028/www.scientific.net/AMR.744.74
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
According to the clinical rehabilitation medicine theory and the characteristics of human upper limb rehabilitation robot, a dexterous rehabilitation mechanical arm with 6-DOF is designed to satisfy the need of rehabilitation in this paper. By analyzing the six cases of the 3-DOF serial distribution and the kinematic relation of the shoulder joint, the spherical joint motion of the shoulder joint is achieved by using the circular arc guide rail. Two serial mechanism approaches of the shoulder joint using PRR and RRP type are provided. After comparing these designs, the PRR type is selected, the kinematics positive solution of this type is given.
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页码：74 / 77
页数：4
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